close Warning: Can't use blame annotator: 
svn blame failed on trunk/tools/Controller/Mavlink/src/include/mavlink_types.h: 200029 - Couldn't perform atomic initialization

source: flair-src/trunk/tools/Controller/Mavlink/src/include/mavlink_types.h@ 88

Last change on this file since 88 was 88, checked in by Sanahuja Guillaume, 8 years ago

m
File size: 8.3 KB
RevLine 
1#ifndef MAVLINK_TYPES_H_
2#define MAVLINK_TYPES_H_
3
4// Visual Studio versions before 2010 don't have stdint.h, so we just error out.
5#if (defined _MSC_VER) && (_MSC_VER < 1600)
6#error "The C-MAVLink implementation requires Visual Studio 2010 or greater"
7#endif
8
9#include <stdint.h>
10
11// Macro to define packed structures
12#ifdef __GNUC__
13 #define MAVPACKED( __Declaration__ ) __Declaration__ __attribute__((packed))
14#else
15 #define MAVPACKED( __Declaration__ ) __pragma( pack(push, 1) ) __Declaration__ __pragma( pack(pop) )
16#endif
17
18#ifndef MAVLINK_MAX_PAYLOAD_LEN
19// it is possible to override this, but be careful!
20#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
21#endif
22
23#define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte)
24#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum
25#define MAVLINK_NUM_CHECKSUM_BYTES 2
26#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)
27
28#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length
29
30#define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255
31#define MAVLINK_EXTENDED_HEADER_LEN 14
32
33#if (defined _MSC_VER) || ((defined __APPLE__) && (defined __MACH__)) || (defined __linux__)
34 /* full fledged 32bit++ OS */
35 #define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
36#else
37 /* small microcontrollers */
38 #define MAVLINK_MAX_EXTENDED_PACKET_LEN 2048
39#endif
40
41#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
42
43
44/**
45 * Old-style 4 byte param union
46 *
47 * This struct is the data format to be used when sending
48 * parameters. The parameter should be copied to the native
49 * type (without type conversion)
50 * and re-instanted on the receiving side using the
51 * native type as well.
52 */
53MAVPACKED(
54typedef struct param_union {
55 union {
56 float param_float;
57 int32_t param_int32;
58 uint32_t param_uint32;
59 int16_t param_int16;
60 uint16_t param_uint16;
61 int8_t param_int8;
62 uint8_t param_uint8;
63 uint8_t bytes[4];
64 };
65 uint8_t type;
66}) mavlink_param_union_t;
67
68
69/**
70 * New-style 8 byte param union
71 * mavlink_param_union_double_t will be 8 bytes long, and treated as needing 8 byte alignment for the purposes of MAVLink 1.0 field ordering.
72 * The mavlink_param_union_double_t will be treated as a little-endian structure.
73 *
74 * If is_double is 1 then the type is a double, and the remaining 63 bits are the double, with the lowest bit of the mantissa zero.
75 * The intention is that by replacing the is_double bit with 0 the type can be directly used as a double (as the is_double bit corresponds to the
76 * lowest mantissa bit of a double). If is_double is 0 then mavlink_type gives the type in the union.
77 * The mavlink_types.h header will also need to have shifts/masks to define the bit boundaries in the above,
78 * as bitfield ordering isn’t consistent between platforms. The above is intended to be for gcc on x86,
79 * which should be the same as gcc on little-endian arm. When using shifts/masks the value will be treated as a 64 bit unsigned number,
80 * and the bits pulled out using the shifts/masks.
81*/
82MAVPACKED(
83typedef struct param_union_extended {
84 union {
85 struct {
86 uint8_t is_double:1;
87 uint8_t mavlink_type:7;
88 union {
89 char c;
90 uint8_t uint8;
91 int8_t int8;
92 uint16_t uint16;
93 int16_t int16;
94 uint32_t uint32;
95 int32_t int32;
96 float f;
97 uint8_t align[7];
98 };
99 };
100 uint8_t data[8];
101 };
102}) mavlink_param_union_double_t;
103
104/**
105 * This structure is required to make the mavlink_send_xxx convenience functions
106 * work, as it tells the library what the current system and component ID are.
107 */
108MAVPACKED(
109typedef struct __mavlink_system {
110 uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function
111 uint8_t compid; ///< Used by the MAVLink message_xx_send() convenience function
112}) mavlink_system_t;
113
114MAVPACKED(
115typedef struct __mavlink_message {
116 uint16_t checksum; ///< sent at end of packet
117 uint8_t magic; ///< protocol magic marker
118 uint8_t len; ///< Length of payload
119 uint8_t seq; ///< Sequence of packet
120 uint8_t sysid; ///< ID of message sender system/aircraft
121 uint8_t compid; ///< ID of the message sender component
122 uint8_t msgid; ///< ID of message in payload
123 uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
124}) mavlink_message_t;
125
126MAVPACKED(
127typedef struct __mavlink_extended_message {
128 mavlink_message_t base_msg;
129 int32_t extended_payload_len; ///< Length of extended payload if any
130 uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
131}) mavlink_extended_message_t;
132
133typedef enum {
134 MAVLINK_TYPE_CHAR = 0,
135 MAVLINK_TYPE_UINT8_T = 1,
136 MAVLINK_TYPE_INT8_T = 2,
137 MAVLINK_TYPE_UINT16_T = 3,
138 MAVLINK_TYPE_INT16_T = 4,
139 MAVLINK_TYPE_UINT32_T = 5,
140 MAVLINK_TYPE_INT32_T = 6,
141 MAVLINK_TYPE_UINT64_T = 7,
142 MAVLINK_TYPE_INT64_T = 8,
143 MAVLINK_TYPE_FLOAT = 9,
144 MAVLINK_TYPE_DOUBLE = 10
145} mavlink_message_type_t;
146
147#define MAVLINK_MAX_FIELDS 64
148
149typedef struct __mavlink_field_info {
150 const char *name; // name of this field
151 const char *print_format; // printing format hint, or NULL
152 mavlink_message_type_t type; // type of this field
153 unsigned int array_length; // if non-zero, field is an array
154 unsigned int wire_offset; // offset of each field in the payload
155 unsigned int structure_offset; // offset in a C structure
156} mavlink_field_info_t;
157
158// note that in this structure the order of fields is the order
159// in the XML file, not necessary the wire order
160typedef struct __mavlink_message_info {
161 const char *name; // name of the message
162 unsigned num_fields; // how many fields in this message
163 mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information
164} mavlink_message_info_t;
165
166#define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0])))
167#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
168
169// checksum is immediately after the payload bytes
170#define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
171#define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
172
173typedef enum {
174 MAVLINK_COMM_0,
175 MAVLINK_COMM_1,
176 MAVLINK_COMM_2,
177 MAVLINK_COMM_3
178} mavlink_channel_t;
179
180/*
181 * applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number
182 * of buffers they will use. If more are used, then the result will be
183 * a stack overrun
184 */
185#ifndef MAVLINK_COMM_NUM_BUFFERS
186#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32)
187# define MAVLINK_COMM_NUM_BUFFERS 16
188#else
189# define MAVLINK_COMM_NUM_BUFFERS 4
190#endif
191#endif
192
193typedef enum {
194 MAVLINK_PARSE_STATE_UNINIT=0,
195 MAVLINK_PARSE_STATE_IDLE,
196 MAVLINK_PARSE_STATE_GOT_STX,
197 MAVLINK_PARSE_STATE_GOT_SEQ,
198 MAVLINK_PARSE_STATE_GOT_LENGTH,
199 MAVLINK_PARSE_STATE_GOT_SYSID,
200 MAVLINK_PARSE_STATE_GOT_COMPID,
201 MAVLINK_PARSE_STATE_GOT_MSGID,
202 MAVLINK_PARSE_STATE_GOT_PAYLOAD,
203 MAVLINK_PARSE_STATE_GOT_CRC1,
204 MAVLINK_PARSE_STATE_GOT_BAD_CRC1
205} mavlink_parse_state_t; ///< The state machine for the comm parser
206
207typedef enum {
208 MAVLINK_FRAMING_INCOMPLETE=0,
209 MAVLINK_FRAMING_OK=1,
210 MAVLINK_FRAMING_BAD_CRC=2
211} mavlink_framing_t;
212
213typedef struct __mavlink_status {
214 uint8_t msg_received; ///< Number of received messages
215 uint8_t buffer_overrun; ///< Number of buffer overruns
216 uint8_t parse_error; ///< Number of parse errors
217 mavlink_parse_state_t parse_state; ///< Parsing state machine
218 uint8_t packet_idx; ///< Index in current packet
219 uint8_t current_rx_seq; ///< Sequence number of last packet received
220 uint8_t current_tx_seq; ///< Sequence number of last packet sent
221 uint16_t packet_rx_success_count; ///< Received packets
222 uint16_t packet_rx_drop_count; ///< Number of packet drops
223} mavlink_status_t;
224
225#define MAVLINK_BIG_ENDIAN 0
226#define MAVLINK_LITTLE_ENDIAN 1
227
228#endif /* MAVLINK_TYPES_H_ */
Note: See TracBrowser for help on using the repository browser.